DocumentCode
2853415
Title
The singular locus for the n-trailers car control system
Author
Jean, Frédéric
Author_Institution
Inst. of Math., Univ. Pierre et Marie Curie, Paris, France
Volume
4
fYear
1995
fDate
13-15 Dec 1995
Firstpage
3869
Abstract
In this paper we study the problem of the car with n trailers. We compute by induction the degree of nonholonomy in every state and obtain a partition of the singular set by this degree of nonholonomy. We give also for each strata a set of vector fields in the Lie algebra of the control system which makes a basis of the tangent space
Keywords
Lie algebras; automobiles; Lie algebra; multitrailer car control system; nonholonomy degree; singular locus; vector fields; Algebra; Character generation; Control systems; Control theory; Controllability; Geometry; Kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.479204
Filename
479204
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